Implemented solution strategy that uses Newton iteration to solve for maximally dissipative sliding directions. Step length alpha is found in an outer loop using fixed-point iteration. Still tracking down a bug that appears in test A4 with mu=0.
Implemented solution strategy that uses Newton iteration to solve for maximally dissipative sliding directions. Step length alpha is found in an outer loop using fixed-point iteration. Still tracking down a bug that appears in test A4 with mu=0.

chrisdembia/simbody,robojukie/simbody,robojukie/simbody,simbody/simbody,Gjacquenot/simbody,simbody/simbody,scamille/simbody,chrisdembia/simbody,elkingtonmcb/simbody,Gjacquenot/simbody,elkingtonmcb/simbody,Gjacquenot/simbody,chrisdembia/simbody,elkingtonmcb/simbody,scamille/simbody,scamille/simbody,robojukie/simbody